/Discrete Actuator Array Vectorfield Design for Distributed Manipulation

Discrete Actuator Array Vectorfield Design for Distributed Manipulation

Jon Luntz, W. Messner and Howie Choset
Conference Paper, Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99), Vol. 3, pp. 2235 - 2241, May, 1999

Download Publication (PDF)

Copyright notice: This material is presented to ensure timely dissemination of scholarly and technical work. Copyright and all rights therein are retained by authors or by other copyright holders. All persons copying this information are expected to adhere to the terms and constraints invoked by each author’s copyright. These works may not be reposted without the explicit permission of the copyright holder.

Abstract

The modular distributed manipulator system (MDMS) is a macroscopic actuator array which can manipulate objects in the plane. The piecewise-constant dynamics of manipulation on the MDMS are developed based on an exact discrete representation of the system. The resulting dynamics are inverted enabling the calculation of an open-loop vectorfield which provides arbitrary uniform object dynamics. The vector field positions, and under certain assumptions, orients objects.

BibTeX Reference
@conference{Luntz-1999-14903,
author = {Jon Luntz and W. Messner and Howie Choset},
title = {Discrete Actuator Array Vectorfield Design for Distributed Manipulation},
booktitle = {Proceedings of the 1999 IEEE International Conference on Robotics and Automation (ICRA '99)},
year = {1999},
month = {May},
volume = {3},
pages = {2235 - 2241},
}
2017-09-13T10:48:56+00:00